3D X-Y-T space path planning for autonomous mobile robots considering dynamic constraints

Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

An autonomous mobile robot in a human living space should be able to not only realize collision-free motion but also give way to humans depending on the situation. Although various reactive obstacle avoidance methods have been proposed, it is difficult to achieve such motion. On the other hand, 3D X-Y-T space path planning, which takes into account the motion of both the robot and the human in a look-ahead time horizon, is effective. This paper proposes a real-time obstacle avoidance method for an autonomous mobile robot that considers the robot's dynamic constraints, the personal space, and human directional area based on grid-based 3D X-Y-T space path planning. The proposed method generates collision-free motion in which the robot can yield to humans. To verify the effectiveness of the proposed method, various experiments in which the human's position and velocity were estimated using laser range finders were carried out.

本文言語English
ホスト出版物のタイトルMechanical Design and Power Engineering
ページ1163-1167
ページ数5
DOI
出版ステータスPublished - 2014
イベント2013 2nd International Conference on Mechanical Design and Power Engineering, ICMDPE 2013 - Beijing, China
継続期間: 2013 11 292013 11 30

出版物シリーズ

名前Applied Mechanics and Materials
490-491
ISSN(印刷版)1660-9336
ISSN(電子版)1662-7482

Other

Other2013 2nd International Conference on Mechanical Design and Power Engineering, ICMDPE 2013
国/地域China
CityBeijing
Period13/11/2913/11/30

ASJC Scopus subject areas

  • 工学(全般)

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